RI | Publications | Approaches for Heuristically Biasing RRT Growth

Text only version of this site

Approaches for Heuristically Biasing RRT Growth
C. Urmson and R. Simmons
IEEE/RSJ IROS 2003, October, 2003.

Jump to: Download | Abstract | Text Reference | BibTeX Reference

Download [Help]

Adobe portable document format (pdf) [152 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm. The fundamental idea is to utilize a heuristic quality function to guide the search. Results from a relevant simulation experiment illustrate the benefit and drawbacks of the developed algorithms. The paper concludes with several promising directions for future research.

Text Reference

C. Urmson and R. Simmons, "Approaches for Heuristically Biasing RRT Growth," IEEE/RSJ IROS 2003, October, 2003.

BibTeX Reference

@inproceedings{Urmson_2003_4695,
   author = "Christopher Urmson and Reid Simmons",
   title = "Approaches for Heuristically Biasing RRT Growth",
   booktitle = "IEEE/RSJ IROS 2003",
   month = "October",
   year = "2003"
}